Steering wheel assembly, chassis assembly and robot

Abstract

The application relates to the technical field of steering wheels, and discloses a steering wheel assembly, a chassis assembly and a robot, which comprise a base plate assembly, a transmission assembly, a power assembly and a steering motor. The transmission assembly comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt. The first synchronous wheel and the second synchronous wheel are rotatably arranged on the base plate assembly, and the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel. The first synchronous wheel and the second synchronous wheel tension the synchronous belt. The outer diameter of the first synchronous wheel is larger than that of the second synchronous wheel. The power assembly comprises a hub motor, a support and a conductive piece. The support comprises a hollow shaft. The hollow shaft is arranged through the base plate assembly and the first synchronous wheel. The hollow shaft and the first synchronous wheel are in transmission connection. The hub motor is installed on the support. The conductive piece is electrically connected with the hub motor and is arranged through the hollow shaft. The steering motor has a steering shaft which is in transmission connection with the second synchronous wheel. The steering wheel assembly has high transmission precision, long service life, and the conductive piece is not prone to damage, so that the maintenance is convenient and the operation and maintenance cost is low.

Description

Technical Field

[0001] This application relates to the field of chassis technology, specifically to a steering wheel assembly, chassis assembly, and robot. Background Technology

[0002] With the rapid development of the robotics industry, the mobile chassis, as the basic motion carrier of the robot body, directly determines the robot's motion flexibility, positioning control accuracy, overall cost, and post-maintenance difficulty, making it a core component for robot application.

[0003] The mobile chassis includes a steering wheel assembly, which is used to achieve movement and steering. In related technologies, the transmission mechanism of the steering wheel assembly has low transmission accuracy, and the wiring harness suffers from severe bending and wear, resulting in high maintenance costs. Summary of the Invention

[0004] This application provides a steering wheel assembly, a chassis assembly, and a robot to solve the problems of low transmission accuracy, severe bending and wear of wiring harnesses, and high maintenance costs in the prior art.

[0005] In a first aspect, this application provides a steering wheel assembly for a chassis assembly, comprising: a base plate assembly; a transmission assembly including a first synchronous pulley, a second synchronous pulley, and a synchronous belt, the synchronous belt being sleeved on the first and second synchronous pulleys, the first and second synchronous pulleys being rotatably disposed on the base plate assembly, the first and second synchronous pulleys tensioning the synchronous belt, the outer diameter of the first synchronous pulley being larger than the outer diameter of the second synchronous pulley; a power assembly including a hub motor, a bracket, and a conductive element, the bracket including a hollow shaft, the hollow shaft passing through the base plate assembly and the first synchronous pulley, the hollow shaft being drive-connected to the first synchronous pulley, the hub motor being mounted on the bracket, the conductive element being electrically connected to the hub motor, and the conductive element passing through the hollow shaft; and a steering motor having a steering shaft, the steering shaft being drive-connected to the second synchronous pulley.

[0006] Beneficial effects: Utilizing the first and second synchronous pulleys and the synchronous belt in a coordinated manner as a speed-reducing and torque-increasing transmission structure not only enables transmission between the hub motor and the steering motor, but also eliminates backlash compared to gear meshing reduction schemes, achieving precise power transmission with no backlash error, increasing steering control accuracy. Furthermore, it eliminates the need for lubrication, slowing down the wear rate and significantly reducing the maintenance cost of the steering wheel assembly. In addition, the conductive components of the hub motor are arranged within the hollow shaft of the bracket. Due to the simple structure of the bracket and the fact that the hollow shaft passes through the large-diameter first synchronous pulley, the space within the hollow shaft is relatively large, reducing the probability of bending and wear of the conductive components. Subsequent replacement of the conductive components and maintenance of the steering wheel assembly are also relatively simple, effectively reducing operation and maintenance costs.

[0007] In one embodiment, the bracket further includes: a first support plate, on the axial direction of the hub motor, the hollow shaft and the hub motor are located on the same side of the first support plate, the conductive element includes a first segment, a second segment and a third segment, the first segment is fixed to the side of the first support plate facing away from the hub motor, the second segment is connected between the first segment and the third segment, and the third segment passes through the hollow shaft.

[0008] Beneficial effects: By placing the hollow shaft and the hub motor on the same side of the first support plate, the axial dimensions of the hollow shaft and the hub motor are closer together. When the hollow shaft rotates, the rotation radius of the hub motor is smaller, which is beneficial for achieving precise steering. Furthermore, the first section of the conductive component is fixed to the side of the first support plate facing away from the hub motor. On the one hand, the first support plate can limit the conductive component; on the other hand, it avoids friction between the hub motor and the conductive component during rotation, reducing the probability of damage to the conductive component.

[0009] In one embodiment, the first support plate is provided with a through hole, and the second section passes through the through hole.

[0010] Beneficial effects: It can shorten the wiring path of conductive components, thereby shortening the length of the conductive components and simplifying the assembly process. Furthermore, vias can limit the movement of conductive components, reducing the probability of them wobbling and making the installation of conductive components more stable.

[0011] In one embodiment, the bracket further includes: a second support plate connected to the first support plate and the hollow shaft, the second support plate being located between the hub motor and the base plate assembly, and a second segment being located between the second support plate and the hub motor, the second segment being fixed to the second support plate.

[0012] Beneficial effects: By setting the second support plate, the relative positions of the hollow shaft and the first support plate are fixed, which improves the structural stability of the bracket. On the other hand, the position of the second section of the conductive component is fixed, which reduces the shaking of the conductive component caused by vibration. Furthermore, the first support plate, the second support plate, and the hub motor can protect the second section of the conductive component, effectively shielding it from the impact or motion interference caused by external debris, which greatly improves the stability and lifespan of the conductive component.

[0013] In one embodiment, the peripheral wall of the first synchronous pulley is provided with a first positioning hole, the peripheral wall of the hollow shaft is provided with a second positioning hole, and the steering wheel assembly further includes a positioning member, which passes through the first positioning hole and the second positioning hole.

[0014] Beneficial effects: By using positioning elements inserted into the first and second positioning holes, the relative positions of the first synchronous pulley and the hollow shaft in the axial and circumferential directions can be locked, preventing separation of the first synchronous pulley and the hollow shaft and improving transmission reliability. Furthermore, since the second positioning hole is located on the circumferential wall of the hollow shaft, and the positioning element is inserted radially into the second positioning hole, it can prevent the positioning element from interfering with the passage of the conductive element through the hollow shaft, reducing the probability of wear on the conductive element.

[0015] In one embodiment, the substrate assembly includes: a substrate, wherein the relative position of the first synchronous wheel and the substrate is fixed; and a tensioning plate, which is movably disposed on the substrate, wherein the relative position of the second synchronous wheel and the tensioning plate is fixed.

[0016] Beneficial effects: By mounting the second synchronous pulley on a tensioning plate that can move relative to the base plate, the center distance between the first and second synchronous pulleys can be changed by adjusting the position of the tensioning plate. This allows for the active application and maintenance of a predetermined tension force on the synchronous belt, compensating for machining and assembly errors. It also compensates for the elongation of the synchronous belt caused by wear, aging, or temperature differences, ensuring that the first and second synchronous pulleys and the synchronous belt always maintain a tight fit. This guarantees the long-term stability of steering transmission accuracy and reduces maintenance costs.

[0017] In one embodiment, the substrate assembly further includes: an adjusting member connected to the tensioning plate; and a positioning plate mounted on the substrate. The positioning plate and the adjusting member are threadedly connected, and rotating the adjusting member can adjust the relative position of the tensioning plate and the substrate.

[0018] Beneficial effects: By rotating the adjusting component, the rotational motion of the adjusting component can be smoothly converted into the linear displacement of the tensioning plate, realizing stepless adjustment of the synchronous belt tension. After the tensioning plate is adjusted to the correct position, the adjusting component utilizes the self-locking feature of the threaded connection and relies on its own friction to reliably lock the position, eliminating the need for additional locking steps. The operation is simple, the adjustment accuracy is high, the locking is reliable, and the maintenance cost is low.

[0019] In one embodiment, the steering wheel assembly includes a limiting member mounted on the base plate assembly, wherein the bracket and the limiting member can abut and limit the rotation of the power assembly around the rotation axis of the hollow shaft.

[0020] Beneficial effects: By setting limit components, the rotation stroke of the power component can be limited, avoiding the breakage of conductive parts due to excessive rotation angle of the power component, thus improving the working reliability of the steering wheel assembly and extending the overall product life.

[0021] Secondly, this application also provides a chassis assembly including the aforementioned steering wheel assembly.

[0022] Thirdly, this application also provides a robot, including the aforementioned steering wheel assembly, or the aforementioned chassis assembly. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the chassis assembly according to an embodiment of this application.

[0025] Figure 2 This is one of the structural schematic diagrams of the steering wheel assembly in an embodiment of this application.

[0026] Figure 3 This is a second schematic diagram of the steering wheel assembly according to an embodiment of this application.

[0027] Figure 4 This is the third schematic diagram of the steering wheel assembly in an embodiment of this application.

[0028] Figure 5 For along Figure 4 A cross-sectional view along line AA in the middle.

[0029] Figure 6 This is the fourth schematic diagram of the steering wheel assembly in an embodiment of this application.

[0030] Figure 7 For along Figure 6 A cross-sectional view along the BB line.

[0031] Figure 8 This is a schematic diagram of the structure of the bracket according to an embodiment of this application.

[0032] Figure 9 This is a schematic diagram of the transmission assembly according to an embodiment of this application.

[0033] Figure 10 This is a schematic diagram showing the connection of the tensioning plate, adjusting member, and positioning plate in an embodiment of this application.

[0034] Explanation of reference numerals in the attached figures: 1. Steering wheel assembly; 2. Chassis assembly; 3. Frame; 100. Substrate assembly; 110. Substrate; 120. Tensioning plate; 121. Strip hole; 130. Adjusting component; 140. Positioning plate; 200. Transmission assembly; 210. First synchronous pulley; 211. First positioning hole; 220. Second synchronous pulley; 230. Synchronous belt; 300. Power assembly; 310. Hub motor; 320. Bracket; 321. Hollow shaft; 322. First support plate; 323. Second support plate; 324. Through hole; 325. Second positioning hole; 326. Limiting groove; 330. Conductive component; 331. First section; 332. Second section; 333. Third section; 400. Steering motor; 410. Steering shaft; 500. Positioning components; 600. Limiting components; 700, cover plate; 800. Bearings. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] In the field of robot mobile chassis, to achieve omnidirectional movement and steering capabilities, a common technical solution is to integrate a precision hollow joint module within the steering wheel assembly. This hollow joint module performs two tasks: first, it acts as part of the steering transmission chain, transmitting power from the steering motor to the wheel support; second, its central through-hole serves as a channel for the hub motor's wiring harness to enter the wheel from the chassis. The steering motor drives a gear set or reducer to rotate the hollow joint module, causing the wheel support to turn, thus enabling the robot to turn. However, the hollow joint module's complex structure and limited wiring space make the wiring harness prone to bending and wear, affecting its lifespan. Replacing or repairing the wiring harness requires removing it from the hollow joint module, a cumbersome process with high maintenance costs.

[0037] To address the aforementioned problems, this application provides a steering wheel assembly 1, with reference to... Figure 1 As shown, the steering wheel assembly 1 is used in the chassis assembly 2, see reference. Figure 2 and Figure 3 As shown, the steering wheel assembly 1 includes a base plate assembly 100, a transmission assembly 200, a power assembly 300, and a steering motor 400.

[0038] The base plate assembly 100 is used to support the transmission assembly 200, the power assembly 300 and the steering motor 400, and provides a mounting base for the steering wheel assembly 1.

[0039] For example, the base plate assembly 100 may include a base plate 110 (such as a metal sheet or profile) and an auxiliary mounting structure mounted on the base plate 110. The base plate assembly 100 serves as a common mounting carrier for various functional components, allowing the transmission assembly 200, the power assembly 300, and the steering motor 400 to be integrated on the same base plate assembly 100. This simplifies the overall structural hierarchy of the steering wheel assembly 1 and reduces assembly steps.

[0040] refer to Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 9 As shown, the transmission assembly 200 includes a first synchronous pulley 210, a second synchronous pulley 220, and a synchronous belt 230. The first synchronous pulley 210 and the second synchronous pulley 220 are rotatably disposed on the base plate assembly 100. The synchronous belt 230 is sleeved on the first synchronous pulley 210 and the second synchronous pulley 220. The first synchronous pulley 210 and the second synchronous pulley 220 tension the synchronous belt 230. The outer diameter of the first synchronous pulley 210 is larger than the outer diameter of the second synchronous pulley 220.

[0041] For example, the outer peripheral surfaces of the first synchronous pulley 210 and the second synchronous pulley 220 may be provided with trapezoidal teeth or circular arc teeth. The synchronous belt 230 may have a certain degree of elasticity and may be made of rubber or polyurethane material. The inner peripheral surface of the synchronous belt 230 has teeth that mesh with the first synchronous pulley 210 and the second synchronous pulley 220. The first synchronous pulley 210 and the second synchronous pulley 220 tension the synchronous belt 230, ensuring that the synchronous belt 230 maintains an appropriate preload during transmission, preventing the synchronous belt 230 from loosening and causing tooth skipping or transmission failure, and ensuring the reliability and stability of the transmission.

[0042] refer to Figures 2-5 As shown, the power assembly 300 includes a hub motor 310, a bracket 320, and a conductive element 330. The hub motor 310 is mounted on the bracket 320 and directly drives the walking wheel to rotate, eliminating the need for a separate walking reduction transmission chain (such as a gear set or an additional synchronous belt 230 transmission pair), reducing the number of parts, simplifying the walking drive structure, and lowering the cost of parts.

[0043] For example, the conductive element 330 can be used to supply power or provide electrical signals to the hub motor 310. The conductive element 330 can be a flexible conductive structure such as a cable, flexible ribbon cable, or conductive slip ring. The hub motor 310 can be a servo motor or a stepper motor. The hub motor 310 can be a commercially available standardized general-purpose motor, which helps to reduce procurement costs.

[0044] The bracket 320 includes a hollow shaft 321, which passes through the substrate assembly 100 and the first synchronous pulley 210. Exemplarily, a bearing 800 between the hollow shaft 321 and the substrate assembly 100 achieves radial positioning between them while ensuring relative rotation between them, thus preventing increased rotational friction on the hollow shaft 321. The hollow shaft 321 and the first synchronous pulley 210 rotate synchronously, and the outer circumferential surface of the hollow shaft 321 and the inner circumferential surface of the first synchronous pulley 210 can be configured as suitable non-circular shapes, such as elliptical, square, polygonal, or D-shaped.

[0045] The bracket 320 rotates relative to the base plate assembly 100 around the central axis of the hollow shaft 321, achieving steering motion. The hollow cavity of the hollow shaft 321 provides a passage for the conductive component 330, integrating the wiring space with the transmission structure, reducing the probability of the conductive component 330 contacting external structures, avoiding bending wear of the conductive component 330 during steering, and extending the service life of the conductive component 330. When it is necessary to inspect or replace the conductive component 330, the conductive component 330 can be directly extracted along the hollow cavity of the hollow shaft 321, simplifying the maintenance operation process and reducing subsequent maintenance costs.

[0046] The steering motor 400 has a steering shaft 410, which is connected to the second synchronous pulley 220. For example, the steering motor 400 can be a servo motor or a stepper motor. The steering motor 400 can be a commercially available standardized general-purpose motor, which helps reduce procurement costs. Furthermore, the steering wheel assembly 1 may include a cover plate 700, which covers the side of the second synchronous pulley 220 facing away from the steering motor 400. The connection between the cover plate 700 and the steering motor 400 fixes the relative axial position of the steering motor 400 and the second synchronous pulley 220. The steering shaft 410 and the second synchronous pulley 220 can be connected using keyway fit, interference fit, or other methods to prevent rotation, so that the steering shaft 410 and the second synchronous pulley 220 rotate synchronously.

[0047] The steering motor 400 outputs power to the power assembly 300 through the second synchronous pulley 220, the synchronous belt 230, and the first synchronous pulley 210, so that the power assembly 300 can turn, thereby realizing the steering of the chassis assembly 2. Since the diameter of the first synchronous pulley 210 can be larger than the diameter of the second synchronous pulley 220, a reduction ratio is formed between the first synchronous pulley 210 and the second synchronous pulley 220. The speed input by the steering motor 400 through the second synchronous pulley 220 is reduced and the torque is amplified before being transmitted to the first synchronous pulley 210, thereby driving the hollow shaft 321 and the bracket 320 to rotate as a whole. This allows the steering motor 400 to obtain sufficient steering torque without having a large torque output capability itself. As a result, a smaller and lower-cost standardized motor can be selected as the steering motor 400, further reducing the system cost.

[0048] In addition, the transmission assembly 200 is constructed with the first synchronous pulley 210, the second synchronous pulley 220 and the synchronous belt 230 working together to eliminate the backlash caused by wear in traditional gear transmission pairs. There is no slippage in the transmission process and the transmission ratio is stable, thereby improving the steering transmission accuracy and control accuracy. This is conducive to achieving precise steering angle control. Furthermore, no lubrication is required, which slows down the wear rate and significantly reduces the maintenance cost of the steering wheel assembly 1.

[0049] In addition, the conductive component 330 of the hub motor 310 is arranged inside the hollow shaft 321 of the bracket 320. Since the bracket 320 has a simple structure and the hollow shaft 321 passes through the large-diameter first synchronous wheel 210, the cross-sectional area of ​​the hollow cavity of the hollow shaft 321 is large, which can reduce the probability of bending and wear of the conductive component 330. The replacement of the conductive component 330 and the maintenance of the steering wheel assembly 1 are also relatively simple, effectively reducing the operation and maintenance costs.

[0050] In some embodiments, reference Figure 7 and Figure 8 As shown, the bracket 320 also includes a first support plate 322. In the axial direction of the hub motor 310, the hollow shaft 321 and the hub motor 310 are located on the same side of the first support plate 322. The conductive element 330 includes a first segment 331, a second segment 332, and a third segment 333. The first segment 331 is fixed to the side of the first support plate 322 facing away from the hub motor 310, the second segment 332 connects the first segment 331 and the third segment 333, and the third segment 333 passes through the hollow shaft 321.

[0051] For example, the intersection of the central axis of the hollow shaft 321 and the central axis of the hub motor 310 can be the center point of the hub motor 310. The hollow shaft 321 and the hub motor 310 are spaced apart along the axial direction of the hollow shaft 321. The motor shaft of the hub motor 310 is mounted on the first support plate 322. The motor shaft of the hub motor 310 and the first support plate 322 are anti-rotationally engaged. When the motor shaft of the hub motor 310 outputs power, the motor shaft of the hub motor 310 does not rotate, but the body of the hub motor 310 rotates, thereby realizing the movement of the robot.

[0052] The first support plate 322 provides a fixed support for the first segment 331 of the conductive component 330, preventing the conductive component 330 from becoming loose due to vibrations during the operation of the hub motor 310. Since the first segment 331 is located on the side opposite to the hub motor 310, it is far away from the rotating parts of the hub motor 310, reducing the risk of friction or entanglement between the conductive component 330 and the hub motor 310.

[0053] The second segment 332 serves as a transitional connection between the first segment 331 and the third segment 333, allowing the conductive component 330 to smoothly transition from its fixed position on the back of the first support plate 322 to the hollow cavity of the hollow shaft 321, ensuring the continuity of the conductive component 330's wiring path. The hollow cavity of the hollow shaft 321 provides physical protection for the third segment 333, preventing it from rubbing against or bending with external structures when the bracket 320 rotates, thus extending the service life of the conductive component 330.

[0054] As an alternative, the bracket 320 may not include the first support plate 322, and the hollow shaft 321 may be divided into multiple segments with different diameters, with the hub motor 310 directly mounted on the hollow shaft 321.

[0055] Further, refer to Figure 3 , Figure 5 and Figure 8 As shown, the first support plate 322 is provided with a through hole 324, and the second segment 332 passes through the through hole 324. For example, the through hole 324 can be a round hole, a square hole, an elliptical hole, or the like.

[0056] The via 324 provides a dedicated channel for the second segment 332 to pass through the first support plate 322, allowing the conductive element 330 to pass from the side of the first support plate 322 facing away from the hub motor 310 (i.e., the side where the first segment 331 is located) through the via 324 to the side where the hub motor 310 is located, and then connect to the third segment 333. The via 324 forms a radial constraint on the second segment 332, limiting the lateral displacement of the conductive element 330 at the point where it passes through the first support plate 322, and preventing the conductive element 330 from deviating or rubbing against the edge of the first support plate 322 during steering.

[0057] As an alternative, the first support plate 322 may not have a through hole 324, and the second segment 332 may bypass the side of the first support plate 322 and connect between the first segment 331 and the third segment 333.

[0058] In some embodiments, reference Figure 7 and Figure 8 As shown, the bracket 320 also includes a second support plate 323, which is connected to the first support plate 322 and the hollow shaft 321. The second support plate 323 fixes the relative position of the hollow shaft 321 and the first support plate 322, thereby improving the structural rigidity and load-bearing capacity of the bracket 320 and facilitating stable support of the hub motor 310.

[0059] For example, the second support plate 323 is arranged around the hollow shaft 321, and the second support plate 323 is spaced apart from the hub motor 310 and the base plate assembly 100 in the axial direction of the hollow shaft 321.

[0060] The second support plate 323 is located between the hub motor 310 and the base plate assembly 100, and the second segment 332 of the conductive element 330 is located between the second support plate 323 and the hub motor 310, and the second segment 332 is fixed to the second support plate 323. Exemplarily, the second segment 332 of the conductive element 330 can be fixed to the second support plate 323 by cable ties.

[0061] In this way, the second segment 332 of the conductive component 330 is stably fixed and supported on the second support plate 323, preventing the second segment 332 from loosening or shaking under the vibration of the hub motor 310 during operation. Furthermore, the second segment 332 is located within the space defined by the first support plate 322, the second support plate 323, and the hub motor 310. This relatively enclosed space provides a certain degree of physical protection for the second segment 332, reducing the risk of damage to the conductive component 330 caused by the intrusion of external foreign objects.

[0062] As an alternative, the bracket 320 may not have a second support plate 323, and the hollow shaft 321 may be directly installed on the first support plate 322.

[0063] In some embodiments, reference Figure 2 and Figure 5 As shown, the peripheral wall of the first synchronous pulley 210 is provided with a first positioning hole 211, and the peripheral wall of the hollow shaft 321 is provided with a second positioning hole 325. The steering wheel assembly 1 also includes a positioning member 500, which passes through the first positioning hole 211 and the second positioning hole 325.

[0064] For example, the positioning element 500 can be a mechanical positioning element such as a pin, positioning pin, or key. Multiple first positioning holes 211, second positioning holes 325, and positioning elements 500 are provided in a one-to-one correspondence. The multiple first positioning holes 211 are arranged at intervals along the circumference of the first synchronous pulley 210, and the multiple second positioning holes 325 are arranged at intervals along the circumference of the hollow shaft 321. This further improves the positioning reliability of the first synchronous pulley 210 and the hollow shaft 321.

[0065] The positioning element 500 passes through both the first positioning hole 211 and the second positioning hole 325, forming a rigid circumferential and axial constraint between the first synchronous pulley 210 and the hollow shaft 321. This prevents relative rotation (slippage) and axial relative movement between the two when transmitting steering torque, ensuring that the torque output by the steering motor 400 can be transmitted undamagedly from the first synchronous pulley 210 to the hollow shaft 321, thus guaranteeing the reliability and accuracy of the steering transmission. Furthermore, the second positioning hole 325 is located on the peripheral wall of the hollow shaft 321. The positioning element 500 is inserted radially into the second positioning hole 325 along the hollow shaft 321, preventing the positioning element 500 from interfering with the passage of the conductive element 330 through the hollow shaft 321 and reducing the probability of wear on the conductive element 330.

[0066] As an alternative, the first synchronizing pulley 210 and the hollow shaft 321 can be fixed by means of bonding, snap-fitting, threaded connection, interference fit, etc.

[0067] In some embodiments, reference Figure 2 , Figure 3 , Figure 6 and Figure 10 As shown, the base plate assembly 100 may include a base plate 110 and a tension plate 120. The base plate 110 serves as the main structural component of the base plate assembly 100, providing a mounting base plane for components such as the transmission assembly 200, the power assembly 300, and the steering motor 400. The tension plate 120 is movably mounted on the base plate 110. The relative position of the second synchronous pulley 220 and the tension plate 120 is fixed, allowing the position of the tension plate 120 to be adjustable. This provides a structural basis for subsequently adjusting the tension of the synchronous belt 230 by changing the position of the second synchronous pulley 220. It also allows changing the center distance between the first synchronous pulley 210 and the second synchronous pulley 220 by adjusting the position of the tension plate 120, thereby actively applying and maintaining a predetermined tension on the synchronous belt 230, compensating for processing and assembly errors.

[0068] The second synchronous pulley 220 can be directly mounted on the tensioning plate 120, or the second synchronous pulley 220 can be mounted on the steering shaft 410 of the steering motor 400, and then the steering motor 400 can be mounted on the tensioning plate 120.

[0069] For example, the tensioning plate 120 can be movably mounted on the base plate 110 through a slotted hole 121 (oblong hole, elliptical hole) and a bolt engagement, allowing the tensioning plate 120 to slide and adjust its position on the base plate 110 in a specific direction. The second synchronous pulley 220 is mounted on the tensioning plate 120, allowing the second synchronous pulley 220 to move together with the tensioning plate 120. When the tensioning plate 120 moves on the base plate 110, the center distance between the second synchronous pulley 220 and the first synchronous pulley 210 changes accordingly, thereby adjusting the tension of the synchronous belt 230. This ensures that the synchronous belt 230 maintains an appropriate preload even after long-term use, compensates for the elongation of the synchronous belt 230 caused by wear, aging, or temperature differences, prevents a decrease in transmission accuracy or tooth skipping due to slack in the synchronous belt 230, and ensures that the first synchronous pulley 210, the second synchronous pulley 220, and the synchronous belt 230 always maintain a tight fit, guaranteeing long-term stability of steering transmission accuracy and reducing maintenance costs.

[0070] Alternatively, the second synchronous pulley 220 can be fixed in relative position to the base plate 110, and the relative positions of the first synchronous pulley 210 and the tension plate 120 can be fixed. Alternatively, the length of the synchronous belt 230 can be adjusted without adjusting the center distance between the second synchronous pulley 220 and the first synchronous pulley 210; the tension of the synchronous belt 230 can be controlled by adjusting its length.

[0071] Further, refer to Figure 2 , Figure 3 , Figure 6 and Figure 10 As shown, the substrate assembly 100 also includes an adjusting member 130 and a positioning plate 140. The adjusting member 130 is connected to the tensioning plate 120, and the positioning plate 140 is mounted on the substrate 110. The positioning plate 140 and the adjusting member 130 are connected by threads.

[0072] For example, the adjusting member 130 may be an adjusting bolt or an adjusting screw, and the extending direction of the adjusting member 130 is the direction of the line connecting the center points of the first synchronous pulley 210 and the second synchronous pulley 220.

[0073] The positioning plate 140 provides a fixed threaded fit reference for the adjusting member 130. When the adjusting member 130 is rotated, it generates axial displacement along the thread direction. This displacement is transmitted to the tensioning plate 120 through the connection between the adjusting member 130 and the tensioning plate 120. The rotational motion of the adjusting member 130 can be converted into a linear displacement of the tensioning plate 120 relative to the base plate 110, causing the tensioning plate 120 to move in a specific direction on the base plate 110. This precisely changes the center distance between the second synchronous pulley 220 and the first synchronous pulley 210, achieving stepless adjustment of the tension of the synchronous belt 230. The threaded connection has a self-locking characteristic, and the position of the tensioning plate 120 can be maintained by itself after adjustment, without the need for an additional locking mechanism, simplifying the structure and ensuring the long-term stability of the tension of the synchronous belt 230.

[0074] As an alternative, the substrate assembly 100 may not have the adjusting member 130 and the positioning plate 140. Instead, the substrate assembly 100 may have an elastic locking mechanism. The relative position of the tensioning plate 120 and the substrate 110 is locked by the reaction force generated when the locking mechanism is compressed. By controlling the contact or separation between the locking mechanism and the tensioning plate 120, the tensioning plate 120 and the substrate 110 can be fixed and their relative displacement can be achieved.

[0075] In some embodiments, reference Figure 4 and Figure 7 As shown, the steering wheel assembly 1 also includes a limiting member 600, which is mounted on the base plate assembly 100 and uses the base plate assembly 100 as a fixed reference to provide a fixed mechanical stop position for the rotation stroke of the power assembly 300.

[0076] For example, the limiting member 600 may be a mechanical limiting element such as a limiting pin, a limiting block, or a limiting baffle. During the rotational stroke of the power assembly 300, the bracket 320 can abut against the limiting member 600. At the extreme position of the rotational stroke, the bracket 320 abuts against the limiting member 600 to form a mechanical hard stop, limiting the maximum rotation angle of the bracket 320, thereby limiting the maximum rotation angle of the hub motor 310 around the central axis of the bracket 320. This prevents the bracket 320 from rotating excessively, causing the conductive element 330 to twist excessively, thereby preventing the conductive element 330 from tangling or breaking. This improves the electrical connection reliability of the steering wheel assembly 1 and also prevents the bracket 320 from colliding and interfering with other components on the base plate assembly 100 (such as the steering motor 400) after rotating beyond the designed stroke, ensuring the safety and reliability of the steering wheel assembly 1 during operation.

[0077] refer to Figure 8 As shown, a limiting groove 326 may be provided on the second support plate 323 of the bracket 320. When the bracket 320 and the limiting member 600 abut, the limiting member 600 is located in the limiting groove 326, thereby improving the positioning accuracy of the bracket 320 and the limiting member 600.

[0078] As an alternative, the steering wheel assembly 1 may also be provided without the limiting member 600, but with an angle detection member, such as an angle sensor, to detect the rotation angle of the steering shaft 410 of the steering motor 400 and limit it by software.

[0079] This application also provides a chassis assembly 2, see reference. Figure 1 As shown, the chassis assembly 2 includes the steering wheel assembly 1 in any of the above embodiments.

[0080] For example, the chassis assembly 2 may include a frame 3 and multiple sets of steering wheel assemblies 1, all of which are mounted on the frame 3. Each set of steering wheel assemblies 1 independently realizes the walking and steering functions, enabling the chassis assembly 2 to have omnidirectional movement capability.

[0081] As the basic motion unit of the chassis assembly 2, the steering wheel assembly 1 integrates at least three functions: walking drive (hub motor 310), steering drive (steering motor 400 driven by transmission assembly 200), and wiring channel (hollow cavity of hollow shaft 321). This eliminates the need for the chassis assembly 2 to configure a reducer group and hollow joint module for each steering wheel assembly 1, which helps to simplify the overall structure of the chassis assembly 2 and reduce system cost.

[0082] The chassis assembly 2 is equipped with the steering wheel assembly 1 of this application, which has the advantages of easy maintenance, high steering accuracy and long service life.

[0083] In some embodiments, reference Figure 1As shown, the chassis assembly 2 may include three sets of steering wheel assemblies 1, which may be mounted on the frame 3 in a triangular arrangement, for example. The three support points form a stable triangular support structure, maintaining the stability of the chassis assembly 2 under both static and dynamic conditions. The three-wheel layout allows all three wheels of the chassis assembly 2 to remain in contact with the ground under any ground conditions, adapting to uneven ground without the need for additional suspension and shock absorption structures. This eliminates the need for the independent suspension system of traditional chassis, significantly simplifying the mechanical structure of the chassis assembly 2, reducing the number of parts, and lowering production and assembly costs and design complexity.

[0084] This application also provides a robot that includes the steering wheel assembly 1 in any of the above embodiments, or the chassis assembly 2 described above. Exemplarily, the robot may be a humanoid robot, a commercial service robot, or a light industrial mobile robot, or any robot requiring omnidirectional mobility. The robot equipped with the steering wheel assembly 1 or chassis assembly 2 of this application has the advantages of easy maintenance, high steering accuracy, and long service life.

[0085] It should be noted that the elements described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0086] It should be understood that multiple components and / or parts can be provided by a single integrated component or part. Alternatively, a single integrated component or part can be divided into multiple separate components and / or parts. The use of "a" or "an" to describe a component or part does not imply the exclusion of other components or parts.

[0087] It should be understood that although terms such as “first” or “second” may be used in this application to describe various elements (such as the first end and the second end), these elements are not defined by these terms, which are only used to distinguish one element from another.

[0088] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details of the above application are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

Claims

1. A steering wheel assembly for a chassis assembly (2), characterized in that, include: Substrate assembly (100); The transmission assembly (200) includes a first synchronous pulley (210), a second synchronous pulley (220), and a synchronous belt (230). The first synchronous pulley (210) and the second synchronous pulley (220) are rotatably disposed on the base plate assembly (100). The synchronous belt (230) is sleeved on the first synchronous pulley (210) and the second synchronous pulley (220). The first synchronous pulley (210) and the second synchronous pulley (220) tension the synchronous belt (230). The outer diameter of the first synchronous pulley (210) is larger than the outer diameter of the second synchronous pulley (220). The power assembly (300) includes a hub motor (310), a bracket (320), and a conductive element (330). The bracket (320) includes a hollow shaft (321), which passes through the base plate assembly (100) and the first synchronous pulley (210). The hollow shaft (321) and the first synchronous pulley (210) are connected in a driving relationship. The hub motor (310) is mounted on the bracket (320). The conductive element (330) is electrically connected to the hub motor (310) and passes through the hollow shaft (321). A steering motor (400) has a steering shaft (410) which is connected to the second synchronous pulley (220) in a drive connection.

2. The steering wheel assembly according to claim 1, characterized in that, The bracket (320) also includes: The first support plate (322) is located on the axial direction of the hub motor (310). The hollow shaft (321) and the hub motor (310) are located on the same side of the first support plate (322). The conductive element (330) includes a first segment (331), a second segment (332), and a third segment (333). The first segment (331) is fixed to the side of the first support plate (322) facing away from the hub motor (310). The second segment (332) is connected between the first segment (331) and the third segment (333). The third segment (333) passes through the hollow shaft (321).

3. The steering wheel assembly according to claim 2, characterized in that, The first support plate (322) is provided with a through hole (324), and the second section (332) passes through the through hole (324).

4. The steering wheel assembly according to claim 2, characterized in that, The bracket (320) also includes: The second support plate (323) is connected to the first support plate (322) and the hollow shaft (321). The second support plate (323) is located between the hub motor (310) and the base plate assembly (100). The second segment (332) is located between the second support plate (323) and the hub motor (310). The second segment (332) is fixed to the second support plate (323).

5. The steering wheel assembly according to claim 1, characterized in that, The first synchronous pulley (210) has a first positioning hole (211) on its peripheral wall, and the hollow shaft (321) has a second positioning hole (325) on its peripheral wall. The steering wheel assembly (1) also includes a positioning element (500), which passes through the first positioning hole (211) and the second positioning hole (325).

6. The steering wheel assembly according to any one of claims 1-5, characterized in that, The substrate assembly (100) includes: The substrate (110) has a fixed relative position between the first synchronous wheel (210) and the substrate (110); Tensioning plate (120) is movably disposed on the base plate (110), and the second synchronous wheel (220) is mounted on the tensioning plate (120).

7. The steering wheel assembly according to claim 6, characterized in that, The substrate assembly (100) further includes: An adjusting element (130) is connected to the tensioning plate (120); A positioning plate (140) is installed on the base plate (110). The positioning plate (140) and the adjusting member (130) are threadedly connected. By rotating the adjusting member (130), the relative position of the tensioning plate (120) and the base plate (110) can be adjusted.

8. The steering wheel assembly according to any one of claims 1-5, characterized in that, The steering wheel assembly (1) includes: The limiting member (600) is installed on the base plate assembly (100). During the rotational stroke of the power assembly (300) about the rotation axis of the hollow shaft (321), the bracket (320) and the limiting member (600) can abut and limit each other.

9. A chassis assembly, characterized in that, Includes the steering wheel assembly (1) as described in any one of claims 1-8.

10. A robot, characterized in that, Includes the steering wheel assembly (1) as described in any one of claims 1-8, or the chassis assembly (2) as described in claim 9.

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